The invention relates to a method for generating an image of vehicle surroundings, comprising the steps of: - capturing the vehicle surroundings by means of a plurality of vehicle cameras (12, 14, 16, 18), which, in particular, are arranged on a vehicle body of a vehicle (S1), - generating camera images by means of the plurality of vehicle cameras (12, 14, 16, 18), wherein the camera images of adjacent vehicle cameras (12, 14, 16, 18) have overlapping image regions (40, 42, 44, 46) (S2), - generating a virtual representation of the surroundings in a virtual three-dimensional space (60), wherein, during said generation, the camera images are projected onto a virtual projection surface (62) in the three-dimensional virtual space (60) (S3), - providing a non-stationary virtual camera (48) in the virtual space (60) and determining a virtual camera position and/or a virtual camera orientation (S4), - placing a first selection region (56) on the virtual projection surface (62) in a first overlapping image region (40) depending on a field of vision (50) of the virtual camera (48) (S5), - calculating at least one image parameter of a first vehicle camera (12) in the first selection region (56) (S6), - adjusting at least one image parameter of a second vehicle camera (14) to the at least one image parameter of the first vehicle camera (12) in the first selection region (56) (S7). The invention furthermore relates to an apparatus (38).
本发明涉及一种用于生成车辆周围环境的图像的方法,该方法包括以下步骤:‑通过尤其设置在车辆车身上的多台车载摄像机(12、14、16、18)检测车辆周围环境(S1),‑通过多台车载摄像机(12、14、16、18)生成摄像机图像,其中,相邻车载摄像机(12、14、16、18)的摄像机图像具有重叠图像区域(40、42、44、46)(S2),‑在虚拟三维立体空间(60)中生成周围环境的虚拟表示,其中,在生成时将摄像机图像投影到三维立体虚拟空间(60)中的虚拟投影面(62)上(S3),‑在虚拟空间(60)中提供非固定的虚拟摄像机(48),并确定虚拟摄像机位置和/或虚拟摄像机方向(S4),‑根据虚拟摄像机(48)的视场区域(50)将虚拟投影面(62)上的第一选择区域(56)置放在第一重叠图像区域(40)中(S5),‑计算第一选择区域(56)中第一车载摄像机(12)的至少一个图像参数(S6),‑调整第二车载摄像机(14)的至少一个图像参数,使其在第一选择区域(56)中与第一车载摄像机(12)的至少一个图像参数相匹配(S7)。本发明还涉及一种装置(38)。
METHOD FOR GENERATING AN IMAGE OF VEHICLE SURROUNDINGS, AND APPARATUS FOR GENERATING AN IMAGE OF VEHICLE SURROUNDINGS
生成车辆周围环境图像的方法及生成车辆周围环境图像的装置
2021-12-24
Patent
Electronic Resource
Chinese
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